Carry can for refuse vehicle

ABSTRACT

A vehicle system includes a refuse vehicle, a carry can, and an electric energy system. The refuse vehicle includes a chassis, a body assembly coupled to the chassis, and a lift assembly. The body assembly defines a vehicle refuse compartment. The carry can is selectively couplable to the lift assembly. The carry can includes a container defining a container refuse compartment and an articulating collection arm coupled the container. The articulating collection arm has an actuator positioned to facilitate manipulating the articulating collection arm. The electric energy system is at least one of positioned on the refuse vehicle or positioned on the carry can. The electric energy system is configured to facilitate operating the actuator of the articulating collection arm.

CROSS-REFERENCE TO RELATED PATENT APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/851,299, filed Apr. 17, 2020, which claims the benefit of U.S.Provisional Patent Application No. 62/842,971, filed May 3, 2019, bothof which are incorporated herein by reference in their entireties.

BACKGROUND

Refuse vehicles collect a wide variety of waste, trash, and othermaterial from residences and businesses. Operators of the refusevehicles transport the material from various waste receptacles within amunicipality to a storage or processing facility (e.g., a landfill, anincineration facility, a recycling facility, etc.).

SUMMARY

One embodiment relates to a vehicle system. The vehicle system includesa refuse vehicle, a carry can, and an electric energy system. The refusevehicle includes a chassis, a body assembly coupled to the chassis, anda lift assembly. The body assembly defines a vehicle refuse compartment.The carry can is selectively couplable to the lift assembly. The carrycan includes a container defining a container refuse compartment and anarticulating collection arm coupled the container. The articulatingcollection arm has an actuator positioned to facilitate manipulating thearticulating collection arm. The electric energy system is at least oneof positioned on the refuse vehicle or positioned on the carry can. Theelectric energy system is configured to facilitate operating theactuator of the articulating collection arm.

Another embodiment relates to a carry can for a refuse vehicle. Thecarry can includes a container, an electric energy system, and acollection arm. The container defines a refuse compartment. Thecontainer includes an interface configured to facilitate selectivelycoupling the container to a lift assembly of the refuse vehicle. Theelectric energy system includes at least one of (i) a battery configuredto store energy, (ii) a generator or a solar panel configured togenerate energy, or (iii) a power interface configured to receive energyfrom an external electrical power source. The collection arm is coupledto the container. The collection arm includes an extension mechanism, alift mechanism, and a grabber mechanism. The extension mechanismincludes an extendable arm and a first actuator positioned to facilitateextending and retracting the extendable arm. The lift mechanism iscoupled to an end of the extendable arm. The lift mechanism includes alift arm and a second actuator positioned to facilitate pivoting thelift arm about a pivot axis. The grabber mechanism is coupled to an endof the lift arm. The grabber mechanism includes grabber arms and a thirdactuator positioned to facilitate opening and closing the grabber arms.At least one of the first actuator, the second actuator, or the thirdactuator is at least one of (i) an electrically operated actuatorpowered by the electric energy system or (ii) a hydraulically operatedactuator coupled to a hydraulic pump driven by an electric motor poweredby the electric energy system.

Still another embodiment relates to a carry can for a refuse vehicle.The carry can includes a container defining a refuse compartment, abattery coupled to or disposed within the container and configured tostore energy, a power interface configured to receive energy from anexternal power source, a communications interface configured to receivecommands from an external device, and an articulating collection armcoupled to the container. The articulating collection arm includes anextension mechanism, a lift mechanism, and a grabber mechanism. Theextension mechanism includes an extendable arm and a first actuatorpositioned to facilitate extending and retracting the extendable arm.The lift mechanism is coupled to an end of the extendable arm. The liftmechanism includes a lift arm and a second actuator positioned tofacilitate pivoting the lift arm about a pivot axis. The grabbermechanism is coupled to an end of the lift arm. The grabber mechanismincludes grabber arms and a third actuator positioned to facilitateopening and closing the grabber arms. Each of the first actuator, thesecond actuator, and the third actuator is an electrically operatedactuator powered by the battery.

This summary is illustrative only and is not intended to be in any waylimiting. Other aspects, inventive features, and advantages of thedevices or processes described herein will become apparent in thedetailed description set forth herein, taken in conjunction with theaccompanying figures, wherein like reference numerals refer to likeelements.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a refuse vehicle, according to anexemplary embodiment.

FIG. 2 is a perspective view of a carry can for the refuse vehicle ofFIG. 1 having a robotic arm, according to an exemplary embodiment.

FIGS. 3-6 are various views of the carry can of FIG. 2 having anelectric energy system, according to various exemplary embodiments.

FIGS. 7-9 are various schematic diagrams of the refuse vehicle of FIG. 1and the carry can of FIG. 2, according to various exemplary embodiments.

FIG. 10 is a perspective view of the carry can of FIG. 2 with therobotic arm in a nominal, non-extended position, according to anexemplary embodiment.

FIG. 11 is a perspective view of the carry can of FIG. 10 with therobotic arm in an extended position, according to an exemplaryembodiment.

FIGS. 12 and 13 are perspective views of the robotic arm of FIG. 2having an extension actuator configured to extend and retract therobotic arm between a nominal, non-extended position and an extendedposition, according to an exemplary embodiment.

FIG. 14 is perspective view of the robotic arm of FIG. 2 having anextension actuator configured to extend and retract the robotic armbetween a nominal, non-extended position and an extended position,according to another exemplary embodiment.

FIG. 15 is perspective view of the robotic arm of FIG. 2 having anextension actuator configured to extend and retract the robotic armbetween a nominal, non-extended position and an extended position,according to still another exemplary embodiment.

FIG. 16 is a perspective view of the carry can of FIG. 2 with a grabbermechanism of the robotic arm in a nominal, non-pivoted position,according to an exemplary embodiment.

FIG. 17 is a perspective view of the carry can of FIG. 16 with thegrabber mechanism of the robotic arm in a pivoted position, according toan exemplary embodiment.

FIG. 18 is perspective view of the robotic arm of FIG. 2 having a liftactuator configured to pivot a grabber mechanism of the robotic armbetween a nominal, non-pivoted position and a pivoted position,according to an exemplary embodiment.

FIG. 19 is perspective view of the robotic arm of FIG. 2 having a liftactuator configured to pivot a grabber mechanism of the robotic armbetween a nominal, non-pivoted position and a pivoted position,according to another exemplary embodiment.

FIG. 20 is a perspective view of the carry can of FIG. 2 with a grabbermechanism of the robotic arm in a nominal, open arrangement, accordingto an exemplary embodiment.

FIG. 21 is a perspective view of the carry can of FIG. 20 with thegrabber mechanism of the robotic arm in a closed arrangement, accordingto an exemplary embodiment.

FIG. 22 is detailed view of a grabber mechanism of the robotic arm ofFIG. 2 having a grabber actuator configured to open and close thegrabber mechanism between a nominal, open arrangement and a closedarrangement, according to an exemplary embodiment.

FIGS. 23 and 24 are detailed views of a grabber mechanism of the roboticarm of FIG. 2 having a grabber actuator configured to open and close thegrabber mechanism between a nominal, open arrangement and a closedarrangement, according to another exemplary embodiment.

FIGS. 25-28 are various views of a process of the robotic arm of thecarry can of FIG. 2 picking up a refuse container and dumping thecontents therein into the carry can, according to an exemplaryembodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate certain exemplaryembodiments in detail, it should be understood that the presentdisclosure is not limited to the details or methodology set forth in thedescription or illustrated in the figures. It should also be understoodthat the terminology used herein is for the purpose of description onlyand should not be regarded as limiting.

According to an exemplary embodiment, a refuse vehicle includes a liftassembly configured to interface with a carry can. The carry can has anarticulating robotic arm coupled thereto. The articulating robotic armincludes one or more electric actuators. At least one of the refusevehicle or the carry includes an electric energy system that providespower to the one or more electric actuators.

Overall Vehicle

As shown in FIG. 1, a vehicle, shown as refuse vehicle 10 (e.g., agarbage truck, a waste collection truck, a sanitation truck, a recyclingtruck, etc.), is configured as a front-loading refuse truck. In otherembodiments, the refuse vehicle 10 is configured as a side-loadingrefuse truck or a rear-loading refuse truck. In still other embodiments,the vehicle is another type of vehicle (e.g., a skid-loader, atelehandler, a plow truck, a boom lift, etc.). As shown in FIG. 1, therefuse vehicle 10 includes a chassis, shown as frame 12; a bodyassembly, shown as body 14, coupled to the frame 12 (e.g., at a rear endthereof, etc.); and a cab, shown as cab 16, coupled to the frame 12(e.g., at a front end thereof, etc.). The cab 16 may include variouscomponents to facilitate operation of the refuse vehicle 10 by anoperator (e.g., a seat, a steering wheel, actuator controls, a userinterface, switches, buttons, dials, etc.).

As shown in FIG. 1, the refuse vehicle 10 includes a prime mover, shownas electric motor 18, and an energy system, shown as energy storageand/or generation system 20. In other embodiments, the prime mover is orincludes an internal combustion engine. According to the exemplaryembodiment shown in FIG. 1, the electric motor 18 is coupled to theframe 12 at a position beneath the cab 16. The electric motor 18 isconfigured to provide power to a plurality of tractive elements, shownas wheels 22 (e.g., via a drive shaft, axles, etc.). In otherembodiments, the electric motor 18 is otherwise positioned and/or therefuse vehicle 10 includes a plurality of electric motors to facilitateindependently driving one or more of the wheels 22. In still otherembodiments, the electric motor 18 or a secondary electric motor iscoupled to and configured to drive a hydraulic system that powershydraulic actuators. According to the exemplary embodiment shown in FIG.1, the energy storage and/or generation system 20 is coupled to theframe 12 beneath the body 14. In other embodiments, the energy storageand/or generation system 20 is otherwise positioned (e.g., within atailgate of the refuse vehicle 10, beneath the cab 16, along the top ofthe body 14, within the body 14, etc.).

According to an exemplary embodiment, the energy storage and/orgeneration system 20 is configured to (a) receive, generate, and/orstore power and (b) provide electric power to (i) the electric motor 18to drive the wheels 22, (ii) electric actuators of the refuse vehicle 10to facilitate operation thereof (e.g., lift actuators, tailgateactuators, packer actuators, grabber actuators, etc.), and/or (iii)other electrically operated accessories of the refuse vehicle 10 (e.g.,displays, lights, etc.). The energy storage and/or generation system 20may include one or more rechargeable batteries (e.g., lithium-ionbatteries, nickel-metal hydride batteries, lithium-ion polymerbatteries, lead-acid batteries, nickel-cadmium batteries, etc.),capacitors, solar cells, generators, power buses, etc. In oneembodiment, the refuse vehicle 10 is a completely electric refusevehicle. In other embodiments, the refuse vehicle 10 includes aninternal combustion generator that utilizes one or more fuels (e.g.,gasoline, diesel, propane, natural gas, hydrogen, etc.) to generateelectricity to charge the energy storage and/or generation system 20,power the electric motor 18, power the electric actuators, and/or powerthe other electrically operated accessories (e.g., a hybrid refusevehicle, etc.). For example, the refuse vehicle 10 may have an internalcombustion engine augmented by the electric motor 18 to cooperativelyprovide power to the wheels 22. The energy storage and/or generationsystem 20 may thereby be charged via an on-board generator (e.g., aninternal combustion generator, a solar panel system, etc.), from anexternal power source (e.g., overhead power lines, mains power sourcethrough a charging input, etc.), and/or via a power regenerative brakingsystem, and provide power to the electrically operated systems of therefuse vehicle 10. In some embodiments, the energy storage and/orgeneration system 20 includes a heat management system (e.g., liquidcooling, heat exchanger, air cooling, etc.).

According to an exemplary embodiment, the refuse vehicle 10 isconfigured to transport refuse from various waste receptacles within amunicipality to a storage and/or processing facility (e.g., a landfill,an incineration facility, a recycling facility, etc.). As shown in FIG.1, the body 14 includes a plurality of panels, shown as panels 32, atailgate 34, and a cover 36. The panels 32, the tailgate 34, and thecover 36 define a collection chamber (e.g., hopper, etc.), shown asrefuse compartment 30. Loose refuse may be placed into the refusecompartment 30 where it may thereafter be compacted (e.g., by a packersystem, etc.). The refuse compartment 30 may provide temporary storagefor refuse during transport to a waste disposal site and/or a recyclingfacility. In some embodiments, at least a portion of the body 14 and therefuse compartment 30 extend above or in front of the cab 16. Accordingto the embodiment shown in FIG. 1, the body 14 and the refusecompartment 30 are positioned behind the cab 16. In some embodiments,the refuse compartment 30 includes a hopper volume and a storage volume.Refuse may be initially loaded into the hopper volume and thereaftercompacted into the storage volume. According to an exemplary embodiment,the hopper volume is positioned between the storage volume and the cab16 (e.g., refuse is loaded into a position of the refuse compartment 30behind the cab 16 and stored in a position further toward the rear ofthe refuse compartment 30, a front-loading refuse vehicle, aside-loading refuse vehicle, etc.). In other embodiments, the storagevolume is positioned between the hopper volume and the cab 16 (e.g., arear-loading refuse vehicle, etc.).

As shown in FIG. 1, the refuse vehicle 10 includes a liftmechanism/system (e.g., a front-loading lift assembly, etc.), shown aslift assembly 40, coupled to the front end of the body 14. In otherembodiments, the lift assembly 40 extends rearward of the body 14 (e.g.,a rear-loading refuse vehicle, etc.). In still other embodiments, thelift assembly 40 extends from a side of the body 14 (e.g., aside-loading refuse vehicle, etc.). As shown in FIG. 1, the liftassembly 40 is configured to engage a container (e.g., a residentialtrash receptacle, a commercial trash receptacle, a container having arobotic grabber arm, etc.), shown as refuse container 60. The liftassembly 40 may include various actuators (e.g., electric actuators,hydraulic actuators, pneumatic actuators, etc.) to facilitate engagingthe refuse container 60, lifting the refuse container 60, and tippingrefuse out of the refuse container 60 into the hopper volume of therefuse compartment 30 through an opening in the cover 36 or through thetailgate 34. The lift assembly 40 may thereafter return the empty refusecontainer 60 to the ground. According to an exemplary embodiment, adoor, shown as top door 38, is movably coupled along the cover 36 toseal the opening thereby preventing refuse from escaping the refusecompartment 30 (e.g., due to wind, bumps in the road, etc.).

Carry Can

According to the exemplary embodiment shown in FIGS. 2-28, the refusecontainer 60 is configured as a front-loader carry can, shown as carrycan 600, that is configured to interface with the lift assembly 40(e.g., a front-loading lift assembly, etc.) of the refuse vehicle 10. Asshown in FIGS. 2-28, the carry can 600 includes a second energy system,shown as can energy storage and/or generation system 620, and anarticulating collection arm, shown as robotic arm 700. In someembodiments, the can energy storage and/or generation system 620 powersthe robotic arm 700. In some embodiments, the carry can 600 does notincludes the can energy storage and/or generation system 620. In suchembodiments, the energy storage and/or generation system 20 of therefuse vehicle 10 may power the robotic arm 700. Further detailsregarding the interaction between the energy storage and/or generationsystem 20, the can energy storage and/or generation system 620, and/orthe robotic arm 700 is provided herein with respect to FIGS. 7-9.

As shown in FIGS. 2-6, the carry can 600 includes a refuse containerhaving a base portion, shown as base 602, and peripheral sidewall, shownas container walls 604, extending from the base 602. The base 602 andthe container walls 604 cooperatively define an internal cavity, shownas container refuse compartment 606. As shown in FIGS. 2-6, the carrycan 600 includes an interface (e.g., a quick attach interface, etc.),shown as lift assembly interface 608, (i) that is positioned along arear wall of the base 602 and (ii) that is configured to releasablyinterface with a coupling assembly, shown as quick attach assembly 50.According to an exemplary embodiment, the quick attach assembly 50 isconfigured to couple to the lift assembly 40 to facilitate lifting thecarry can 600 with the lift assembly 40 to empty contents within thecontainer refuse compartment 606 into the refuse compartment 30 of therefuse vehicle 10. Additional disclosure regarding the lift assemblyinterface 608 and the quick attach assembly 50 may be found in (i) U.S.Pat. No. 10,035,648, filed May 31, 2017, (ii) U.S. Pat. No. 10,351,340,filed Jul. 27, 2018, (iii) U.S. Pat. No. 10,513,392, filed May 16, 2019,and (iv) U.S. Patent Publication No. 2020/0087063, filed Nov. 21, 2019,all of which are incorporated herein by reference in their entireties.In other embodiments, the base 602 and/or the container walls 604 definefork pockets that selectively receive and interface with forks of thelift assembly 40 to facilitate coupling the carry can 600 to the liftassembly 40.

According to an exemplary embodiment, the can energy storage and/orgeneration system 620 is configured to (a) receive, generate, and/orstore power and (b) provide electric power to the robotic arm 700 tofacilitate operation thereof. As shown in FIGS. 3-6, the can energystorage and/or generation system 620 includes a plurality of batterycells, shown as batteries 622, positioned within the base 602 and/oralong an exterior (e.g., a rear portion, a side portion, a bottomportion, a front portion, etc.) of the carry can 600. In someembodiments, the batteries 622 are additionally or alternativelypositioned within the container walls 604, positioned along an exteriorof the container walls 604, and/or still otherwise positioned on and/orwithin the carry can 600 (e.g., along/within a rear wall, along/within asidewall, along/within a front wall, etc.). In some embodiments, thebatteries 622 are selectively swappable (e.g., to facilitate quicklyreplenishing the charge level of the can energy storage and/orgeneration system 620, etc.). The batteries 622 may include one or morerechargeable batteries (e.g., lithium-ion batteries, nickel-metalhydride batteries, lithium-ion polymer batteries, lead-acid batteries,nickel-cadmium batteries, etc.). In some embodiments, the can energystorage and/or generation system 620 additionally or alternativelyincludes capacitors, solar cells, generators, power buses, etc.

In some embodiments, the can energy storage and/or generation system 620has an independent charging or power interface 802, separate from theenergy storage and/or generation system 20 of the refuse vehicle 10. Insome embodiments, the energy storage and/or generation system 20 and thecan energy storage and/or generation system 620 are charged through asingle, common charging interface. In some embodiments, the energystorage and/or generation system 20 charges the can energy storageand/or generation system 620 (e.g., via the power interface 802 of thecarry can 600, etc.). As shown in FIG. 7, the can energy storage and/orgeneration system 620 is completely separate from and independent of theenergy storage and/or generation system 20 of the refuse vehicle 10 and,therefore, can operate the robotic arm 700 without receiving power fromenergy storage and/or generation system 20 of the refuse vehicle 10. Insuch an embodiment, the refuse vehicle 10 may be a traditional,internal-combustion engine driven refuse vehicle, a hybrid refusevehicle, or a full-electric refuse vehicle. As shown in FIG. 8, the canenergy storage and/or generation system 620 is coupled to the energystorage and/or generation system 20 of the refuse vehicle 10. In such anembodiment, the energy storage and/or generation system 20 may at leastpartially charge the can energy storage and/or generation system 620 tofacilitate operating the robotic arm 700 (e.g., via the power interface802 of the carry can 600, etc.). By way of example, the energy storageand/or generation system 20 may be configured to trickle charge the canenergy storage and/or generation system 620 (e.g., in between loadpickups, etc.). In such an example, the size of the can energy storageand/or generation system 620 may be reduced, as large battery capacitymay not be necessary, and lower amperage wire between the energy storageand/or generation system 20 and the can energy storage and/or generationsystem 620 may be used. As shown in FIG. 9, the carry can 600 does notinclude the can energy storage and/or generation system 620, but ratherthe energy storage and/or generation system 20 of the refuse vehicle 10is directly coupled to and facilitates operation of the robotic arm 700(e.g., via the power interface 802 of the carry can 600, etc.).

As shown in FIGS. 2-6 and 10-28, the robotic arm 700 is positioned alongand selectively extends outward from a sidewall of the container walls604 of the carry can 600. In other embodiments, at least a portion ofthe robotic arm 700 is coupled to and translates along a rear wall ofthe container walls 604 of the carry can 600. As shown in FIGS. 2-6 and10-28, the robotic arm 700 includes an first assembly, shown asextension mechanism 720; a second assembly, shown as lift mechanism 740,coupled to the extension mechanism 720; and a third assembly, shown asgrabber mechanism 760, coupled to the lift mechanism 740.

As shown in FIGS. 10-15, the extension mechanism 720 includes aextenable/telescoping arm, shown as can arm 722, and a first actuator,shown as extension actuator 724, positioned to facilitate selectivelyextending and retracting the can arm 722 and, thereby, the liftmechanism 740 and the grabber mechanism 760 between a nominal,non-extended position (see, e.g., FIG. 10) and an extended position(see, e.g., FIG. 11). According to an exemplary embodiment, theextension actuator 724 is an electric actuator configured to be poweredvia electricity provided by the energy storage and/or generation system20, the can energy storage and/or generation system 620, and/or anotherelectrical source on the refuse vehicle 10 and/or the carry can 600(e.g., a generator, solar panels, etc.). In an alternative embodiment,the extension actuator 724 is a fluidly operated actuator (e.g., ahydraulic cylinder, a pneumatic cylinder, etc.) operated by a fluid pump(e.g., a hydraulic pump, a pneumatic pump, etc.) driven by an electricmotor (e.g., the electric motor 18, the secondary electric motor, anintegrated motor of the fluid pump, etc.). In such an embodiment, thefluid pump may be positioned on the refuse vehicle 10 or on the carrycan 600, and fluidly coupled to fluidly operated actuator via conduits.

According to the exemplary embodiment shown in FIGS. 12 and 13, theextension actuator 724 is a linear actuator configured to extend andretract to extend and retract the can arm 722. As shown in FIGS. 12 and14, the extension actuator 724 includes a ball screw 726 coupled to alinear actuator 728. The ball screw 726 may be driven by an electricmotor to extend and retract the linear actuator 728. In otherembodiments, another type of electrically driven, linear actuator isused (e.g., a lead screw actuator, etc.).

According to the exemplary embodiment shown in FIGS. 14 and 15, theextension actuator 724 includes a rotational actuator, shown as motor730, configured to extend and retract the can arm 722. As shown in FIG.14, the motor 730 includes a first output, shown as rack pinion 732,positioned to interface with a rack, shown as arm rack 734, extendingalong the can arm 722. According to an exemplary embodiment, the rackpinion 732 engages with teeth of the arm rack 734 and is driven by themotor 730 to index the arm rack 734 and, thereby, extend and retract thecan arm 722. In some embodiments, the rack pinion 732 is a gearedpinion. In some embodiments, the rack pinion 732 is a roller pinion. Asshown in FIG. 15, the motor 730 includes a second output, shown as chainpinion 736, positioned to interface with a chain, shown as push chain738, extending along the can arm 722. According to an exemplaryembodiment, the chain pinion 736 engages with gaps in the push chain 738and is driven by the motor 730 to index the push chain 738 and, thereby,extend and retract the can arm 722.

As shown in FIGS. 16-19, the lift mechanism 740 includes an extension,shown as support 742, coupled to an end of the can arm 722 and extendingupward and/or at an angle therefrom; a base, shown as base plate 744,coupled to an end of the support 742, opposite the can arm 722; one ormore interfaces, shown as hinges 746, positioned at opposing sides ofand protruding from the base plate 744; one or more arms, shown as liftarms 748, pivotally coupled to and extending between the hinges 746 andthe grabber mechanism 760; and a second actuator, shown as lift actuator750, positioned to facilitate selectively pivoting the lift arms 748and, thereby, the grabber mechanism 760 about a first axis, shown aspivot axis 752, between a nominal, non-pivoted position (see, e.g., FIG.16) and a pivoted position (see, e.g., FIG. 17). According to anexemplary embodiment, the lift actuator 750 is an electric actuator(e.g., an electric motor, etc.) configured to be powered via electricityprovided by the energy storage and/or generation system 20, the canenergy storage and/or generation system 620, and/or another electricalsource on the refuse vehicle 10 and/or the carry can 600 (e.g., agenerator, solar panels, etc.). In some embodiments, the lift actuator750 is a rotational electric actuator (e.g., an electric motor, etc.).In other embodiments, the lift actuator 750 is a linear electricactuator. In an alternative embodiment, the lift actuator 750 is afluidly operated actuator (e.g., a hydraulic cylinder, a hydraulicrotary actuator, a pneumatic cylinder, a pneumatic rotary vane, etc.)operated by a fluid pump (e.g., a hydraulic pump, a pneumatic pump,etc.) driven by an electric motor (e.g., the electric motor 18, thesecondary electric motor, an integrated motor of the fluid pump, etc.).In such an embodiment, the fluid pump may be positioned on the refusevehicle 10 or on the carry can 600, and fluidly coupled to fluidlyoperated actuator via conduits.

As shown in FIG. 18, the lift actuator 750 is coupled to the base plate744 and disposed along the pivot axis 752 (e.g., an in-line arrangement,etc.). According to the exemplary embodiment shown in FIG. 18, the liftactuator 750 extends directly between the lift arms 748 and the hinges746 such the lift actuator 750 directly drives the motion of the liftarms 748. In other embodiments, a first transmission device or an inlinetransmission device is positioned between the lift actuator 750 and atleast one of the lift arms 748 such the lift actuator 750 drives themotion of the lift arms 748 through the inline transmission device. Byway of example, the inline transmission device may be a gearbox (e.g., aplanetary gearbox, etc.). By way of another example, the inlinetransmission device may be a cycloidal drive. By way of still anotherexample, the inline transmission device may be a harmonic drive.

As shown in FIG. 19, the lift actuator 750 is coupled to the base plate744 and positioned offset from the pivot axis 752 along a second axis,shown as offset axis 754, that is parallel to the pivot axis 752 (e.g.,a parallel arrangement, etc.). The lift actuator 750, therefore, isindirectly coupled to the lift arms 748 through a second transmissiondevice, shown as offset transmission device 756, such the lift actuator750 drives the motion of the lift arms 748 through the offsettransmission device 756. By way of example, the offset transmissiondevice 756 may be a gearbox (e.g., eccentric gearing, parallel axisgearing, a double-reduction worm gear assembly, etc.). By way of anotherexample, the offset transmission device 756 may be a chain assembly or abelt assembly.

As shown in FIGS. 20-24, the grabber mechanism 760 includes a baseportion, shown as grabber base 762, coupled to the lift arms 748 of thelift mechanism 740; a pair of arms, shown as grabber arms 764, pivotallycoupled to opposing ends of the grabber base 762, about pivot points,shown as hinges 766; and third actuators, shown as grabber actuators768, positioned to facilitate selectively pivoting the grabber arms 764about the hinges 766 to open and close the grabber arms 764 between anominal, open arrangement (see, e.g., FIG. 20) and a closed arrangement(see, e.g., FIG. 21). According to an exemplary embodiment, the grabberactuators 768 are electric actuators configured to be powered viaelectricity provided by the energy storage and/or generation system 20,the can energy storage and/or generation system 620, and/or anotherelectrical source on the refuse vehicle 10 (e.g., a generator, solarpanels, etc.). In an alternative embodiment, the grabber actuators 768are fluidly operated actuators (e.g., hydraulic cylinders, hydraulicrotary actuators, pneumatic cylinders, pneumatic rotary vanes, etc.)operated by a fluid pump (e.g., a hydraulic pump, a pneumatic pump,etc.) driven by an electric motor (e.g., the electric motor 18, thesecondary electric motor, an integrated motor of the fluid pump, etc.).In such an embodiment, the fluid pump may be positioned on the refusevehicle 10 or on the carry can 600, and fluidly coupled to fluidlyoperated actuator via conduits.

As shown in FIG. 22, the grabber actuators 768 include linear electricactuators pivotally coupled to and extending between the grabber base762 and the grabber arms 764. Such grabber actuators 768, therefore, maybe configured to extend and retract to pivot the grabber arms 764relative to the grabber base 762 about the hinges 766. In oneembodiment, the grabber actuators 768 are or include ball screw linearactuators driven by an electric motor. In other embodiments, anothertype of electrically driven, linear actuators is used (e.g., a leadscrew actuator, etc.). According to an exemplary embodiment, the grabberactuators 768 are positioned to facilitate selectively pivoting thegrabber arms 764 relative to the grabber base 762 to engage and secure arefuse receptacle (e.g., a trash can, a recycling bin, etc.) to therobotic arm 700.

As shown in FIGS. 23 and 24, the grabber actuators 768 include a motor,shown as grip motor 770; a gearbox, shown as gearbox 772, including aninput gear coupled to an output of the grip motor 770 and an output gearcoupled to the input gear; a shaft, shown as connecting shaft 774,coupled to the output gear of the gearbox 772; a set of worm gears,shown as worm gears 776, coupled to opposing ends of the connectingshaft 774; and a set of pivot gears, shown as pivot gears 778, coupledto the worm gears 776 and disposed about the hinges 766. According to anexemplary embodiment, the grip motor 770 is configured to provide anoutput to the gearbox 772 (i.e., to the input gear of the gearbox 772),which transfers the output of the grip motor 770 to the connecting shaft774 (i.e., through the output gear of the gearbox 772) to rotate theconnecting shaft 774. The connecting shaft 774 then imparts its rotationonto the worm gears 776, which engage with the pivot gears 778, therebycausing the grabber arms 764 to pivot relative to the grabber base 762about the hinges 766.

According to the exemplary embodiment shown in FIGS. 25-28, theextension actuator 724, the lift actuator 750, and the grabber actuators768 are configured to facilitate (i) extending the robotic arm 700 fromthe container walls 604, (ii) grabbing a refuse receptacle 790, (iii)retracting the robotic arm 700 with the refuse receptacle 790, (iv)lifting/pivoting the refuse receptacle 790 to empty the contents thereofinto the container refuse compartment 606, and (v) returning the refusereceptacle 790 to its initial location. The carry can 600 may thereafterbe pivoted above the cab 16 of the refuse vehicle 10 using the liftassembly 40 to empty the contents therein into the refuse compartment 30of the refuse vehicle 10.

In some embodiments, the carry can 600 includes a communicationport/interface 804 configured to interface with an electricalconnection, shown as connection harness 800 of the refuse vehicle 10such that the carry can 600 is operable from within the cab 16 of therefuse vehicle 10 (e.g., receives commands therefrom, etc.). Theconnection harness 800 may also be configured to transfer power from (i)the energy storage and/or generation system 20 to (ii) the can energystorage and/or generation system 620 and/or the robotic arm 700directly. In other embodiments, the carry can 600 includes a wirelesscommunications interface/device 806 configured to wirelessly communicatewith systems of the refuse vehicle 10 (e.g., via Wi-Fi, Bluetooth, NFC,ZigBee, etc.) such that the carry can 600 may be wirelessly operablefrom within the cab 16 of the refuse vehicle 10 and/or using a portabledevice (e.g., a tablet, a smartphone, etc.).

As utilized herein, the terms “approximately,” “about,” “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the disclosure as recited inthe appended claims.

It should be noted that the term “exemplary” and variations thereof, asused herein to describe various embodiments, are intended to indicatethat such embodiments are possible examples, representations, orillustrations of possible embodiments (and such terms are not intendedto connote that such embodiments are necessarily extraordinary orsuperlative examples).

The term “coupled” and variations thereof, as used herein, means thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent or fixed) or moveable (e.g.,removable or releasable). Such joining may be achieved with the twomembers coupled directly to each other, with the two members coupled toeach other using a separate intervening member and any additionalintermediate members coupled with one another, or with the two memberscoupled to each other using an intervening member that is integrallyformed as a single unitary body with one of the two members. If“coupled” or variations thereof are modified by an additional term(e.g., directly coupled), the generic definition of “coupled” providedabove is modified by the plain language meaning of the additional term(e.g., “directly coupled” means the joining of two members without anyseparate intervening member), resulting in a narrower definition thanthe generic definition of “coupled” provided above. Such coupling may bemechanical, electrical, or fluidic.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below”) are merely used to describe the orientation of variouselements in the FIGURES. It should be noted that the orientation ofvarious elements may differ according to other exemplary embodiments,and that such variations are intended to be encompassed by the presentdisclosure.

The hardware and data processing components used to implement thevarious processes, operations, illustrative logics, logical blocks,modules and circuits described in connection with the embodimentsdisclosed herein may be implemented or performed with a general purposesingle- or multi-chip processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field programmablegate array (FPGA), or other programmable logic device, discrete gate ortransistor logic, discrete hardware components, or any combinationthereof designed to perform the functions described herein. A generalpurpose processor may be a microprocessor, or, any conventionalprocessor, controller, microcontroller, or state machine. A processoralso may be implemented as a combination of computing devices, such as acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. In some embodiments, particularprocesses and methods may be performed by circuitry that is specific toa given function. The memory (e.g., memory, memory unit, storage device)may include one or more devices (e.g., RAM, ROM, Flash memory, hard diskstorage) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent disclosure. The memory may be or include volatile memory ornon-volatile memory, and may include database components, object codecomponents, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present disclosure. According to anexemplary embodiment, the memory is communicably connected to theprocessor via a processing circuit and includes computer code forexecuting (e.g., by the processing circuit or the processor) the one ormore processes described herein.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures and description may illustrate a specific order ofmethod steps, the order of such steps may differ from what is depictedand described, unless specified differently above. Also, two or moresteps may be performed concurrently or with partial concurrence, unlessspecified differently above. Such variation may depend, for example, onthe software and hardware systems chosen and on designer choice. Allsuch variations are within the scope of the disclosure. Likewise,software implementations of the described methods could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

It is important to note that the construction and arrangement of therefuse vehicle 10 and the systems and components thereof as shown in thevarious exemplary embodiments is illustrative only. Additionally, anyelement disclosed in one embodiment may be incorporated or utilized withany other embodiment disclosed herein. Although only one example of anelement from one embodiment that can be incorporated or utilized inanother embodiment has been described above, it should be appreciatedthat other elements of the various embodiments may be incorporated orutilized with any of the other embodiments disclosed herein.

The invention claimed is:
 1. A vehicle system comprising: a refusevehicle comprising: a chassis; a body assembly coupled to the chassis,the body assembly defining a vehicle refuse compartment; an electricenergy system; and a lift assembly; a carry can selectively couplable tothe lift assembly, the carry can comprising: a container defining acontainer refuse compartment; an articulating collection arm coupled tothe container, the articulating collection arm including: an extensionmechanism including an extendable arm and a first actuator positioned tofacilitate extending and retracting the extendable arm; a lift mechanismcoupled to an end of the extendable arm, the lift mechanism including alift arm and a second actuator positioned to facilitate pivoting thelift arm about a pivot axis; and a grabber mechanism coupled to an endof the lift arm, the grabber mechanism including grabber arms and athird actuator positioned to facilitate opening and closing the grabberarms; wherein each of the first actuator, the second actuator, and thethird actuator includes an electrically-operated actuator powered by theelectric energy system; wherein the first actuator includes one of: (i)a linear actuator, a ball screw coupled to the linear actuator, and anextension motor positioned to drive the ball screw to extend and retractthe extendable arm; (ii) a rack disposed along the extendable arm, arack pinion positioned to engage the rack, and an extension motorpositioned to drive the rack pinion to extend and retract the extendablearm; or (iii) a push chain disposed along the extendable arm, a chainpinion positioned to engage the push chain, and an extension motorpositioned to drive the chain pinion to extend and retract theextendable arm; and wherein at least one of: (i) the second actuatorincludes (a) a transmission device coupled to the lift arm andpositioned along the pivot axis and (b) a rotational actuator coupled tothe transmission device and positioned along an offset axis that isparallel to and is offset from the pivot axis; or (ii) the carry canincludes a battery disposed along or within the container, the batteryis undersized to power the articulating collection arm for repeatedoperation, and the electrical energy system is configured to tricklecharge the battery in-between uses of the articulating collection arm tofacilitate powering the articulating collection arm with the battery forrepeated operation.
 2. The vehicle system of claim 1, further comprisingan electrical connection extending between the refuse vehicle and thecarry can, the electrical connection configured to facilitatetransferring electrical energy from the refuse vehicle to the carry canand (ii) transferring commands from the refuse vehicle to the carry can.3. The vehicle system of claim 1, further comprising an electricalconnection extending between the refuse vehicle and the carry can,wherein the electrical connection is a power connection configured tofacilitate transferring electrical energy from the refuse vehicle to thecarry can.
 4. The vehicle system of claim 1, further comprising anelectrical connection extending between the refuse vehicle and the carrycan, wherein the electrical connection is a communication connectionconfigured to facilitate transferring commands from the refuse vehicleto the carry can.
 5. The vehicle system of claim 1, wherein the carrycan includes a wireless communication device configured to receivecommands wirelessly from at least one of the refuse vehicle or aportable user device.
 6. The vehicle system of claim 1, wherein thecarry can includes the battery disposed along or within the container,wherein the battery is undersized to power the articulating collectionarm for repeated operation, and wherein the electrical energy system isconfigured to trickle charge the battery in-between uses of thearticulating collection arm to facilitate powering the articulatingcollection arm with the battery for repeated operation.
 7. The vehiclesystem of claim 1, wherein the electric energy system includes at leastone of a power interface, a battery, a solar panel, or a generatorconfigured to at least one of receive energy, store energy, or generateenergy.
 8. The vehicle system of claim 1, wherein the carry can includesat least one of: a battery configured to store energy; a generator or asolar panel configured to generate energy; or a power interfaceconfigured to receive energy from an external electrical power sourceincluding the electric energy system of the refuse vehicle.
 9. Thevehicle system of claim 1, wherein the second actuator is disposed alongthe pivot axis.
 10. The vehicle system of claim 1, wherein the secondactuator includes (a) the transmission device coupled to the lift armand positioned along the pivot axis and (b) the rotational actuatorcoupled to the transmission device and positioned along the offset axisthat is parallel to and is offset from the pivot axis.
 11. The vehiclesystem of claim 1, wherein the first actuator includes the push chain,the extension motor, and the chain pinion.
 12. The vehicle system ofclaim 1, wherein the first actuator includes the linear actuator, theball screw, and the extension motor.
 13. The vehicle system of claim 1,wherein the first actuator includes the rack, the extension motor, andthe rack pinion.
 14. A carry can for a refuse vehicle, the carry cancomprising: a container defining a refuse compartment, the containerincluding an interface configured to facilitate selectively coupling thecontainer to a lift assembly of the refuse vehicle; an electric energysystem including at least one of: a battery configured to store energy;a generator or solar panel configured to generate energy; or a powerinterface configured to receive energy from an external electrical powersource; and a collection arm coupled to the container, the collectionarm including: an extension mechanism including an extendable arm and afirst actuator positioned to facilitate extending and retracting theextendable arm; a lift mechanism coupled to an end of the extendablearm, the lift mechanism including a lift arm and an actuator assemblypositioned to facilitate pivoting the lift arm about a pivot axis, theactuator assembly including (i) a transmission device coupled to thelift arm and positioned along the pivot axis and (ii) a second actuatorcoupled to the transmission device and positioned along an offset axisthat is parallel to and offset from the pivot axis; and a grabbermechanism coupled to an end of the lift arm, the grabber mechanismincluding grabber arms and a third actuator positioned to facilitateopening and closing the grabber arms; wherein at least one of the firstactuator, the second actuator, or the third actuator includes at leastone of (i) an electrically-operated actuator powered by the electricenergy system or (ii) a fluidly-operated actuator coupled to a fluidpump driven by an electric motor powered by the electric energy system.15. A vehicle system comprising: a refuse vehicle including: a chassis;a body assembly coupled to the chassis, the body assembly defining avehicle refuse compartment; a lift assembly; and an electric energysystem; and a carry can selectively carried by the lift assembly, thecarry can including: a container defining a container refusecompartment; a battery coupled to or disposed within the container; apower interface configured to facilitate selectively electricallycoupling the battery to the electric energy system; a communicationsinterface configured to receive commands from an external device; and anarticulating collection arm coupled to the container, the articulatingcollection arm including: an extension mechanism including an extendablearm and a first actuator positioned to facilitate extending andretracting the extendable arm; a lift mechanism coupled to an end of theextendable arm, the lift mechanism including a lift arm and a secondactuator positioned to facilitate pivoting the lift arm about a pivotaxis; and a grabber mechanism coupled to an end of the lift arm, thegrabber mechanism including grabber arms and a third actuator positionedto facilitate opening and closing the grabber arms; wherein each of thefirst actuator, the second actuator, and the third actuator is anelectrically-operated actuator powered by the battery; wherein thebattery is undersized for powering the articulating collection arm forrepeated operation; and wherein the electrical energy system isconfigured to trickle charge the battery in-between uses of thearticulating collection arm to facilitate powering the articulatingcollection arm with the battery for repeated operation.